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Code.No: 37372

R05

SET-1

JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD IV .B.TECH – I SEM REGULAR EXAMINATIONS JANUARY- 2010 DIGITAL CONTROL SYSTEMS (COMMON TO EIE, E.CON.E)

Time: 3hours

1.a]

Define the terms

Answer any FIVE questions All questions carry equal marks - - -

Max.Marks:80

 i] Alaising ii] Folding iii] Hidden oscillations iv] Sampling.

b] Discuss any one method of Digital to analog conversion

2.a]

Obtain the Z-transform of

i]

1

a

9

( 1

K

e

at )

(

2

K

1

)

, where ‘a’ is constant

2

K

+

3,

K

0

.

f

1

( t ) =

f t

( ) =

2

ii]

b] Show that

z

⎡ ⎣ K K

(

1)

(

K h +

1)

k h

a

⎤= ⎦

(

h z

!)

(

z

a

)

h + 1

[8+8]

[10+6]

3. Consider the difference equation y (k+2) - y (k+1) – y (k) = 0, with y (0) = 0, y (1) = 1. Obtain the general solution y (k) in a closed form and hence show that

Lt

k →∞ y k +
(
1)
1
+
5
=
y k
(
)
2



4. Define controllability and observability of discrete time systems, for the following system,

5.a]

6.

b]

7.a]

b]

8.a]

y z

(

)

u z

(

)

=

z

1

(

1

+

0.8

z

1

)

1

+

1.3

z

1

+

0.4

z

2



Determine the stability of the following characteristic equations by using suitable tests

i]

ii]

5 z

2

2 z + 2 = 0

z

3

0.2 z

2

0.25 z + 0.05 = 0

 Define stability in the sense of Lyapunov. [10+6] Explain the procedure for discretization of continuous time state space equations.  Explain the design of the digital PID controller and PI controller in the Z – plane. Explain the design of digital controllers through bilinear transformation. [8+8] Write short notes on a] Pole placement design by output feed back. b] Ackermann’s formula used for the determination of the state Feed back gain matrix K. [8+8]

*****

Code.No: 37372

R05

SET-2

JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD IV .B.TECH – I SEM REGULAR EXAMINATIONS JANUARY- 2010 DIGITAL CONTROL SYSTEMS (COMMON TO EIE, E.CON.E)

Time: 3hours

Max.Marks:80

Answer any FIVE questions All questions carry equal marks - - -

1.a]

Discuss the sample and hold operation in detail.

b] Define Shannon’s sampling theorems and explain.

2.

Obtain the inverse Z – transform of

a]

 − 1 z ( − 1 − 1 − 2 ) 1 )( 1 − + z 1.3 z + 0.4 z 1 + 6 z − 2 + z − 3 ( 1 − z − 1 )( 1 − 0.2 z − 1 ) z − 1 ( 0.5 − z − 1 ) ( 1 − 0.5 z − 1 )( 1 − 0.8 z − 1 ) 2

(

F z

1

) =

b]

c]

F

2

F

3

( z ) =

(

z

) =

in the closed form.

[8+8]



3.

4.

5.

Given the difference equation y(k+2) – y(k+1) + 0.25y(k) = u(k+2) – 0.1u(k) with y(k) = 0, k<0 and y(0) = 1, y(1) = 2, obtain the solution if

a]

0, u(k) =

1,

u(k) =

if k < if k

0

0.0000

0

<

if k = if k

if k

0

1

=

and k

2

3

b]

1.5820

0.5820

[8+8]

Define the state space model of discrete control system using direct programming method

and draw its block diagram.



Show that the following system

x k

x

k

x k

1

2

3

(

(

(

+

+

+

y(k) = [

1)

1)

1)

1

⎥ ⎦

=

1

⎡−

1

⎢ ⎣

1

0

0

]

⎢ ⎣

2

3

x

x

1

2

x

3

0

(

(

(

k

k

k

)

)

)

⎦ ⎥

0

1

⎤⎡ x ⎤ ⎡⎤ 1

⎥ ⎢⎥ ⎥ + ⎢⎥ 0

x ⎥ ⎢⎥

⎦⎣ ⎦ ⎣⎦

⎥⎢

⎥⎢

−⎥⎢

1

1

x

2

3

1

u(k)

is completely state controllable and observable.



6. Investigate the stability of the following system and calculate the range of

k 1 over which

the system is stable. Select the sampling period T =0.4secs as in figure below. 7. What is a dead beat response? Explain the characteristic of the poles of the transfer

 function of a system that has a dead beat response.  8. State and derive the condition of Full order observer. 

*****

Code.No: 37372

R05

SET-3

JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD IV .B.TECH – I SEM REGULAR EXAMINATIONS JANUARY- 2010 DIGITAL CONTROL SYSTEMS (COMMON TO EIE, E.CON.E)

Time: 3hours

Max.Marks:80

Answer any FIVE questions All questions carry equal marks - - -

1. Define and explain

a] Zero order hold

b] First order hold

[8+8]

2. Given the discrete – time system

y k

(

)

 1 1 1 2 y k − + ( 1) 4 y k − ( 2) ( ) 3

= u k + u k

(

2)

Determine the pulse transfer function and the unit pulse response.



3.a]

b]

Discuss the mapping between s-plane and z-plane.

Given the discrete-time system y ( k ) + a y ( k 1) + a y ( k 2) = b u ( k ) b u ( k 1)

1

2

1

2

Obtain the block diagram using standard programming using pure delay elements z

1

.

[6+10]

4. Explain the procedure for dieselization of continuous time state space equations.



5. Investigate the controllability and observability of the following system

6.a]

x ( k + 1) ⎤ ⎡−

=

1

0

1

x ( k

2

+

1)

1

1

⎤⎡

⎥⎢

⎦⎣

y(k) = [

1

1

]

x ( k

1

x ( k

2

)

)

x ( k

1

x ( k

2

)

)

⎤ ⎡⎤

⎥ + ⎢⎥

⎦ ⎣⎦

0

1

u ( k

)

Explain in detail about the primary strips and complementary strips.



b] Discuss the design procedure using bilinear transformation and Routh stability criterion

for the analysis of stability.

[4+12]

7. A sampled – data control system is shown in figure below. Show that the output of the

n

system at sampling instants is zero.

π

2

T =

, n Positive integer.

ω

s 8. A control system defined by

X = AX + Bu ; Y = CX

where A =

⎣ ⎢

0

2

1

3

⎦ ⎥

; B =

⎣⎦ ⎢⎥ ⎡⎤ ; C = [1

0

2

0]



 It is desired to have Eigen values at -3.0 and -5.0 by using a state feedback control u = -kx. Determine the necessary feed back gain matrix ‘k’ and the control signal u. 

*****

Code.No: 37372

R05

SET-4

JAWAHARLAL NEHRU TECHNOLOGICAL UNIVERSITY HYDERABAD IV .B.TECH – I SEM REGULAR EXAMINATIONS JANUARY- 2010 DIGITAL CONTROL SYSTEMS (COMMON TO EIE, E.CON.E)

Time: 3hours

Max.Marks:80

Answer any FIVE questions All questions carry equal marks - - -

1. Define sampling. Derive the Shanon’s sampling theorem and also explain alaising and

the way to remove alaising.

 2. Show that a] b] c]

z

z

k = 0

k

h

k

= 0

1

h

= 0

f

(

f h

(

f h

(

)

)

⎦ ⎥

⎦ ⎥

=

=

1

1 z

z

1

1

1 z

1

k

)

=

(

L i m F z

z

1

)

F ( z

F ( z

)

)



[6+5+5]

3. Obtain the closed loop pulse transfer functions of the systems shown in figure (i) and

figure (ii). 4.a]

Describe the different methods of computation of state transition matrix.

b] Give the properties of STM.

[12+4]

5. Consider the following continuous control system.

x

x

1

2

(

(

t

t

)

)

⎤ = ⎡− ⎥

1

0

1

1

⎤⎡

⎥⎢

⎦⎣

x ( k

1

x ( k

2

) ⎤ + ⎡ 0 ⎤ ⎥

)

⎣ ⎦

1

u(k)

y(t) =

The control signal u(k) is generated by processing the signal u(t) through a sampler and

zero order hold. Study the controllability and observability properties of the system under this condition. Determine the values of the sampling period for which the discretized

system may exhibit hidden oscillation.

x

1

(t )



6. Write short notes on

 a] Constant frequency loci b] Constant damping ratio loci c] July’s stability test [5+5+6]

U

(

s

)

7. Show that the transfer function

(

U s

)

T

1

+

T

2

(

E s

)

0

T

1

=

K

E

(

T T s

)

2

T

1

1

+

(

1

+

T

2

)

T

1

T

2

+

of the PID controller shown in figure below

s

1

+

⎞⎤

⎟⎥

⎠⎦

Assume the gain `K’ is very large compared with unity, or K>>1. 8. Define state observation. Derive the necessary and sufficient conditions for reduced order

observer.

*****